Robotized ladle turret system

Abstract

A metal casting installation is provided that includes a loading platform, a tundish, a first ladle and a second ladle, each of the first and second ladle has a floor provided with an opening, a collector nozzle and a ladle shroud. The installation also includes a ladle sliding gate configured for moving the collector nozzle and the ladle shroud between a sealed position, a casting position, and an unclogging position. A turret is provided for holding the first and second ladles, configured for moving and holding in place the first and second ladles between a loading station and a casting station over the tundish. A robot is also provided and configured for loading a new ladle shroud onto the ladle slide gate, and coupling a driving device to the ladle slide gate.

Claims

1. A metal casting installation comprising, (a) a loading platform (20), (b) a tundish (1), (c) a first ladle (11) and a second ladle (12), each of the first and second ladle comprising, a floor provided with an opening (11o, 12o), a collector nozzle (14) and a ladle shroud (13a-13c), a ladle sliding gate (15), (d) a turret (30) comprising at least a first holding device and a second holding device for holding the first ladle (11) and the second ladle (12), respectively, wherein the ladle turret is configured for moving and holding in place the first and second ladles (11,12) between a loading station, adjacent to the loading platform (20), and a casting station, over the tundish (1), Characterized in that, the ladle sliding gate is configured for reversibly receiving and supporting the collector nozzle and the ladle shroud, and further configured for being coupled to a driving device (17) for actuating the ladle sliding gate between a sealed position wherein the opening is sealed, a casting position wherein the opening is in fluid communication with the ladle shroud (13a-13c), and an unclogging position wherein the opening is in fluid communication with the collector nozzle (14), the metal casting installation comprises a robot (21) programmed for carrying out the following operations on the first or second ladle (11, 12) which is held in the loading station, loading a new ladle shroud (13b) onto the ladle slide gate (15), and coupling a driving device (17) to the ladle slide gate (15), wherein said robot (21) is located on or adjacent to the loading platform (20).

2. The metal casting installation according to claim 1, wherein the loading platform (20) comprises a tool storage rack (29) containing one or more spare ladle shrouds (13b, 13c) within reaching distance of the robot (21).

3. The metal casting installation according to claim 2, wherein the robot (21) is movingly mounted on the loading platform (20) such that the robot can translate parallel to a first axis (X) and/or second axis (Y) normal to the first axis (X), or combination thereof, and/or rotate about a vertical axis (Z) normal to the first and second axes (X, Y), in order to reach and retrieve any tool or component from the storage rack (29) and to reach the ladle sliding gate of the first or second ladle (11, 12).

4. The metal casting installation according to claim 2, wherein the tool storage rack (29) further comprises one or more driving devices (17) and/or spare collector nozzles (14).

5. The metal casting installation according to claim 1, wherein the robot (21) is configured for removing off the emptied first or second ladle (11, 12) which is held at the loading station after being moved from the casting station, the ladle shroud (13a-13c) and the driving device (17).

6. The metal casting installation according to claim 1, wherein the ladle sliding gate (15) comprises, (a) an upper plate (15u) comprising, a fixing surface and a bottom sliding surface separated from one another by a thickness of the upper plate, an upper bore extending from the fixing surface to the bottom sliding surface, and wherein the fixing surface of the upper plate is rigidly fixed to a lower portion of the corresponding first or second ladle (11, 12) with the upper bore in fluid communication with the opening, (b) a lower plate (15d) comprising, a nozzle sliding surface and a top sliding surface separated from one another by a thickness of the lower plate, a lower bore extending from the top sliding surface to the nozzle sliding surface, wherein the lower plate (15d) is slidingly mounted such that the top sliding surface can slide in translation along the bottom sliding surface to bring the lower bore in and out of fluid communication with the upper bore, and wherein (c) a drawer (15w) configured for rigidly holding a ladle shroud (13a-13c) having a shroud bore opening at an upper shroud surface and a collector nozzle (14) having a collector bore opening at an upper collector surface, the drawer being movingly mounted such as to translate the upper shroud surface and collector surface along the nozzle sliding surface of the lower plate (15d) between a shroud position, wherein the shroud bore is in fluid communication with the lower bore and a collector position, wherein the collector bore is in fluid communication with the lower bore, (d) the driving device (17) being coupled to the lower plate (15d) for driving the translation of the lower plate, and (e) a drawer driving device (17w) being coupled to the drawer (15w) for driving the translation of the drawer, wherein the driving device (17) is coupled to the lower plate (15d) and comprises a cylinder (17c) rigidly and reversibly coupled to the bottom portion of the corresponding first or second ladle (11, 12), and a piston (17p) rigidly and reversibly fixed to the lower plate (15d), the driving device being configured for moving the lower plate to bring the lower bore in and out of registry with the upper bore, and wherein the drawer driving device (17w) is coupled to the drawer (15w) and comprises a cylinder (17c) rigidly and reversibly coupled to the bottom portion of the corresponding first or second ladle (11, 12), and a piston (17p) rigidly and reversibly fixed to the drawer (15w), the drawer driving device being configured for moving the drawer to bring the shroud bore and the collector bore in and out of registry with the lower bore.

7. The metal casting installation according to claim 1, wherein the ladle sliding gate (15) comprises, (a) an upper plate (15u) comprising, a fixing surface and a bottom sliding surface separated from one another by a thickness of the upper plate, an upper bore extending from the fixing surface to the bottom sliding surface, and wherein the fixing surface of the upper plate is rigidly fixed to a lower portion of the corresponding first or second ladle (11, 12) with the upper bore in fluid communication with the opening, (b) A lower plate (15d) comprising, a nozzle surface and a top sliding surface separated from one another by a thickness of the lower plate, a first bore and a second bore, each extending from the top sliding surface to the nozzle surface, wherein the lower plate (15d) is slidingly mounted such that the top sliding surface can slide along the bottom sliding surface to bring each of the first and second bores in and out of fluid communication with the upper bore, and wherein the nozzle surface is configured for being rigidly and reversibly coupled to the ladle shroud (13a-13c) having a ladle bore in fluid communication with the first bore, and to the collector nozzle having a collector bore in fluid communication with the second bore, and wherein the driving device (17) is coupled to the lower plate (15d) and comprises a cylinder (17c) rigidly and reversibly coupled to the bottom portion of the corresponding first or second ladle (11, 12), and a piston (17p) rigidly and reversibly fixed to the lower plate (15d), the driving device being configured for moving the lower plate to bring the first and second bores in and out of registry with the upper bore.

8. The metal casting installation according to claim 1, wherein, the driving device (17) is actuated hydraulically or pneumatically or electrically, and wherein each of the at least first holding device and second holding device of the ladle turret is provided with, a source of pressurized fluid for activating the driving device (17) via a hose (17t), or a source of electric power.

9. The metal casting installation according to claim 8, wherein each of the at least first holding device and second holding device of the ladle turret further comprises a storing station for storing a driving device (17) ready for coupling to a ladle sliding gate.

10. The metal casting installation according to claim 1, comprising a pre-heating oven (25) for bringing and maintaining at a pre-heating temperature the new ladle shroud (13b) loaded on the ladle sliding gate (15) of the first or second ladle (12) located at the loading station.

11. The metal casting installation according to claim 1, wherein the robot is also configured, for checking a state of a spent ladle shroud (13a-13c) after removal from an emptied ladle, for assessing whether the spent ladle shroud can be re-used after cleaning or whether it must be disposed of, and for cleaning the spent ladle shroud, with an oxygen shower, to remove any residue clinging to walls of the spent ladle shroud.

12. A method for casting a molten metal comprising (a) providing a metal casting installation according to claim 1, wherein, the first ladle is full of molten metal (2) and is in the casting station and the second ladle (12) is full of molten metal (2) and is in the loading station, the ladle sliding gate (15) of the first ladle (11) is in the sealed position, is coupled to one or more driving devices (17) and optionally drawer driving devices (17w), and is provided with a ladle shroud (13a-13c) and a collector nozzle (14), the ladle sliding gate (15) of the second ladle (12) is in the sealed position and comprises no ladle shroud (13a-13c) and no operational driving device (17) and no operational drawer driving device (17w), (b) bringing the ladle sliding gate (15) of the first ladle (11) into casting position for casting molten metal from the first ladle (11) through the ladle shroud (13a) into the tundish (2), (c) during the preceding step, loading with the robot (21) a new ladle shroud (13b) onto the ladle sliding gate (15) of the second ladle (12), and coupling with the robot (21) the driving device (17) to the sliding plate gate (15) of the second ladle (12), (d) When the first ladle is substantially empty, bringing the ladle sliding gate (15) of the first ladle (11) into sealed position, followed by (e) swapping positions of the first and second ladles by moving the first ladle (11) from the casting station to the loading station and, concomitantly, moving the second ladle (12) from the loading station to the casting station, (f) bringing the ladle sliding gate (15) of the second ladle (12) into casting position and casting molten metal from the second ladle (12) through the ladle shroud (13b) into the tundish (2).

13. The method according to claim 12, further comprising the following steps during step (f), (g) removing with the robot (21) the spent ladle shroud (11a) from the ladle sliding gate (15) of the emptied first ladle (11) and storing the spent ladle shroud for refurbishing or as waste, and (h) de-coupling and removing with the robot (21) the one or more driving devices (17) from the sliding plate gate (15) of the first ladle (11), and storing them for further use, (i) removing the emptied first ladle (11), and (j) loading a new ladle full of molten metal onto the first holding device of the ladle turret (30) at the loading station wherein, like the second ladle (12) in step (a), the new ladle comprises a ladle sliding gate (15) in the sealed position and comprising no ladle shroud (13a-13c).

14. The method according to claim 12, wherein the opening of the first ladle is filled with a plugging material (19) and in case no molten metal flows out of the opening upon bringing the ladle sliding gate (15) of the first ladle (11) into casting station in step (b), the following steps are carried out, bringing the ladle sliding gate (15) of the first ladle (11) into unclogging position, with an appropriate unclogging tool (19r), unclogging the opening of the first ladle by disrupting the plugging material, when the plugging material starts flowing out of the collector nozzle, bringing the ladle sliding gate (15) of the first ladle (11) into casting position for casting molten metal from the first ladle (11) through the thus unplugged opening and through the ladle shroud (11a) into the tundish (2).

15. The method according to claim 12, wherein step (e) of swapping positions of the first and second ladles comprises lifting the first and second ladles (11, 12) until the ladle shrouds (13a, 13b) of the first and second ladles are both clear off and higher than the tundish in a vertical direction (Z), rotating the turret about the vertical axis (Z) by 180? to bring the first ladle (11) above the loading station, and to bring the second ladle (12) above the casting station and above the tundish (2), lowering the first and second ladles (11, 12) to their respective loading and casting stations, the ladle shroud (13b) of the second ladle being inserted in the tundish (2).

16. The method according to claim 12, wherein the robot also, checks a state of a spent ladle shroud (13a-13c) after removal from an emptied ladle, assesses whether the spent ladle shroud can be re-used after cleaning or whether it must be disposed of, and cleans the spent ladle shroud, with an oxygen shower, to remove any residue clinging to walls of the spent ladle shroud.

Description

BRIEF DESCRIPTION OF THE FIGURES

(1) On these figures,

(2) FIG. 1A-F depicts various steps of a swap of an emptied first ladle away from the casting station and replacement thereof by a full second ladle after preparation thereof at the loading station.

(3) FIG. 2A-D shows various steps of unclogging a clogged ladle outlet using a ladle sliding gate according to a first embodiment of the present invention.

(4) FIG. 3A-D shows various steps of unclogging a clogged ladle outlet using a ladle sliding gate according to a second embodiment of the present invention.

DETAILED DESCRIPTION

(5) As illustrated in FIG. 1A-F, a metal casting installation according to the present invention comprises a first ladle (11) and a second ladle (12). The first ladle is held at a casting station over a tundish (1) for transferring molten metal (2) contained in the first ladle (11) into the tundish (1). The tundish delivers the molten metal to a tool or a mould. With this system, the tundish contains a volume of molten metal which remains substantially constant throughout the transfer of molten metal from the first ladle (11) to the tundish (1). When the first ladle has been emptied of its content, it must be replaced as rapidly as possible by the second ladle (12) full of molten metal and fully geared for continuing the transfer of molten metal (2) to the tundish (1), to keep substantially constant the level of molten metal in the tundish and, at the same time, the flow rate of molten metal out of the tundish into the tool or mould.

(6) A ladle (11,12) comprises, a floor provided with an opening (11o, 12o). An inner nozzle (18) provided with an inner bore brings an inner volume of the tundish in fluid communication with the opening (11o, 12o). The ladle (11,12) also comprises a ladle sliding gate (15) configured for reversibly receiving and supporting the ladle shroud, and for being coupled to a driving device (17) for actuating the ladle sliding gate between a sealed position wherein the opening is sealed, and a casting position wherein the opening is in fluid communication with the ladle shroud (13a-13c).

(7) The ladle sliding gate (15) of a ladle according to the present invention is also configured for reversibly receiving and supporting a collector nozzle (14a, 14b). The driving device (17) or drawer driving device (17w) is further configured for actuating the ladle sliding device (15) to an unclogging position wherein the opening is in fluid communication with the collector nozzle (14). As explained more in detail below, the unclogging position is used in case no molten metal flows out of the ladle when the ladle sliding gate is in the casting position due to clogging.

(8) To accelerate the swap between an emptied first ladle (11) with a full second ladle (12), the first and second ladles are supported by corresponding first and second holding devices of a rotating turret (30) (cf. FIG. 1A). The first and second holding devices are fork shaped arms holding the first and second ladles (11,12) at arm-length from a central rotating axis (Z). The rotation of the turret about the central rotating axis (Z) allows the first and second ladles to be moved between, the casting station wherein one of the first or second ladle (11, 12) is held over the tundish with a ladle shroud (13a-13c) partly inserted inside the tundish, and a loading station, wherein the other one of the first or second ladle is geared at a loading station in preparation to the transfer of molten metal into the tundish when it is moved into the casting station.

(9) Because the ladle shroud (13a-13c) is partly inserted in the tundish (1), the turret (30) must first lift the first and second ladles to drive the ladle shroud (13a) of the first ladle (11) out and above the tundish (1) prior to rotating about the central rotating axis (Z) to avoid the ladle shrouds of the first and second ladles to collide with the tundish.

(10) The loading is provided with a loading platform (20) comprising tools and spare parts, such as new ladle shrouds (13b, 13c), new collector nozzles (14), or spare driving devices (17). As explained supra, a ladle cannot be transported across a workshop between a furnace and a casting installation with a long ladle shroud (13a-13c) protruding out of the bottom floor thereof. Consequently, a fresh ladle, full of molten metal, reaches the casting station devoid of a ladle shroud (13a-13c). The fresh ladle (11, 12) full of molten metal (2) reaches the turret (30) with a ladle sliding gate (15) fixed to the bottom floor of the ladle but without an operational driving device (17), and with a collector nozzle (14) coupled to the ladle sliding gate. The collector nozzle is very short and can travel across the workshop attached to the ladle without any risk of collision. A new ladle shroud (13a-13c) can therefore be coupled to the fresh ladle (12) when the latter is docked on the turret (30) at the loading station. At the same time, a driving device (17) must be coupled to the ladle (11, 12) and the ladle sliding gate (15) and must be activated by connecting it to a source of pressurized fluid for hydraulic or pneumatic driving devices (17), or to a source of electric power for electric driving devices (17).

(11) Rather than carrying out these operations manually by a human operator, the present invention proposes to provide a robot (21) on or adjacent to the loading platform (20). The robot (21) is configured for loading a new ladle shroud (13b) onto the ladle slide gate (15), and for coupling a driving device (17) to the ladle slide gate (15).

(12) Casting Installation

(13) FIG. 1A-F illustrates various steps of a continuous casting operation with an installation according to the present invention. The swapping of an emptied first ladle (11) with a filled second ladle (12) is discussed more in detail in the following sections. FIG. 1A shows a turret (30) comprising a first and second holding devices for holding first and second ladles (11, 12). The turret is located adjacent to a tundish, such that each of the first and second holding devices can bring a ladle (11, 12) to the casting station, with the ladle shroud partly inserted in the tundish below the level of molten metal contained in the tundish during use in stationary conditions. FIG. 1A shows such configuration, with a first ladle (11) partly filled with molten metal held at the casting station by the first holding device of the turret (30). The first ladle is over the tundish (1) with the ladle nozzle (13a-13c) partly inserted into the tundish and partly immerged below the level of molten metal contained in the tundish. The ladle sliding gate (15) of the first ladle (11) is coupled to a driving device (17) configured to move a plate of the sliding gate between the sealing, casting, and unclogging positions described supra. In the embodiment of FIG. 1A-F, the driving device (17) is a hydraulic piston which is connected to a source (17h) of pressurized fluid, through a tune (17t). The driving device (17) can be pneumatic or electric, but hydraulic driving devices are preferred.

(14) A second ladle (12) full of molten metal, coming straight from a furnace, is held at the loading station by the second holding device of the turret (30), at the loading station, within robot reach of the loading platform (20). The ladle sliding gate (15) of the second ladle (12) is in the sealed position. Unlike the first ladle (11), the second ladle (12) is not ready for casting molten metal because it is devoid of any ladle shroud (13b) and of any driving device (17). It is possible to bring a second ladle (12) already equipped with a driving device (17), but not in an operational state, since it would not be connected to any source of pressurized fluid for hydraulic and pneumatic driving devices, nor to any source of electric power for electric driving devices. Generally, the second ladle (12) when reaching the turret is devoid of any driving device (17), and in the few instances where it is provided with a driving device, the latter is not operational.

(15) The loading platform (20) comprises a storage rack (29) with various tools (not shown) required for preparing the second ladle (12) for casting, and with spare ladle shrouds (13b, 13c). The ladle shroud (13a, 13c) first in line for being coupled to a ladle is preferably preheated in the storage rack (29) or in a separate oven within reach of the robot, to avoid any brutal thermal shock when molten metal flows through the ladle shroud upon starting of the casting operation at the casting station. In some instances, the platform can comprise spare driving devices (17), and possibly spare collector nozzles (14), although a collector nozzle (14) is preferably coupled to the second ladle in a separate, refurbishing station, prior to filling the ladle with molten metal from the furnace.

(16) The driving device (17) and optionally the drawer driving device (17w) (defined below with respect to the first embodiment illustrated in FIG. 2A-D) for actuating the ladle sliding gate (15) of the second ladle (12) is preferably stored on or at proximity of the second holding device of the turret (30). It is preferred to store the driving devices on the first and second holding devices because this way, it is not necessary to connect and disconnect the (drawer) driving devices each time it is coupled to and removed from a ladle, as the source (17h) of pressurized fluid is most conveniently also located on or at proximity of the first and second holding devices, as shown in FIG. 1A.

(17) FIG. 1B shows that, while the first ladle (11) is discharging its content of molten metal into the tundish, the robot (21) takes a new ladle shroud (13b) from the storage rack (29) and couples the new ladle shroud to the ladle sliding gate (15) of the second ladle (12), which is maintained in the sealed position during the whole stay of the second ladle at the loading station. As explained supra, in a preferred embodiment, the new ladle shroud (13b) is heated to a pre-heating temperature in the storage rack (29) or in a separate oven within reach of the robot (21), prior to being loaded onto the ladle sliding gate. Pre-heating the ladle shroud prior to casting reduces the risks of cracking due to a brutal thermal shock as molten metal starts flowing through the ladle shroud at the beginning of a casting operation. As a second ladle (12) provided with a new ladle shroud (13b) can remain a certain time stationed at the loading station before being moved to the casting station, waiting for the first ladle (11) to be emptied, the new ladle shroud (13b) has time to cool down, losing all the benefit of the pre-heating operation. For this reason, in a preferred embodiment of the present invention illustrated in FIG. 1C, additionally or alternatively to pre-heating the new ladle shroud in the storage rack or separate oven, a pre-heating oven (25) can be provided at the loading station for (optionally bringing and) maintaining at the pre-heating temperature the new ladle shroud (13b) loaded on the ladle sliding gate (15) of the second ladle (12) located at the loading station. With this pre-heating oven (25), the ladle shroud arrives at the casting station at the required pre-heating temperature, and casting can start with lower risk of cracking due to thermal shocks. The pre-heating oven (25) can be movingly coupled to the loading platform (20), or to the first and second holding devices of the turret. It is preferably in the form of an open book, closing over the new ladle shroud (13b) once it has been loaded on the ladle sliding gate (15). The robot (21) can handle the oven to bring it into pre-heating position.

(18) The robot (21) can preferably move along a horizontal plane (X, Y) and has several degrees of liberty, preferably at least five or at least seven degrees of liberty. The robot must be able to reach both the storage rack (29) to collect or deposit tools and or casting components, and also to reach the ladle sliding gate (15) of the ladle stationed at the loading station. It must have enough degrees of liberty for carrying out all the connections and de-connection and couplings and de-coupling required for ensuring a continuous casting operation of the casting installation.

(19) In particular, as shown in FIGS. 1B and 1C the robot must be configured for (de-)coupling a ladle shroud (13a-13c) and a (drawer) driving device (17, 17w), and for (de-)coupling a hose (17t) to (from) the (drawer) driving device (17, 17w). In FIG. 1A-D, the first and second holding devices of the turret (30) are provided with both, a storing station for storing one or more (drawer) driving devices (17, 17w) and a source of pressurized fluid connected to the one or more (drawer) driving devices for actuating the ladle sliding gate (15).

(20) With this configuration, all the robot (21) needs to do is to collect the driving device (17) from its storing station at the second holding device and couple it to the ladle and ladle sliding gate (15). In case the driving device is stored in the storage rack (29) or in case the driving device stored in the storing station must be changed with a new one stored in the storage rack (29), additionally to coupling the one or more (drawer) driving devices (17, 17w) to the ladle and ladle sliding gate (15), the robot (21) must also connect one or more hoses (17t) to corresponding (drawer) driving devices to render the driving device operational for actuating the ladle sliding gate.

(21) As shown in FIG. 1D, when the first ladle (11) is substantially empty, it must be replaced by the full, second ladle (12) which is waiting at the loading. In the embodiment illustrated in FIG. 1A-F, the turret (30) is configured for raising the first and second ladles (11,12) to a rotating altitude, to ensure that, upon rotation of the turret, the ladle shrouds (13a, 13b) of the first and second ladles do not collide with the tundish (1) or with any other element of the casting installation. As shown in FIG. 1E the turret (30) is also configured for rotating about a vertical axis (Z) such as to swap in a single movement the positions of the first and second ladles, still maintained at the rotating altitude above the respective loading and casting positions. Finally, the turret (30) must be configured to lower both first and second ladles to their corresponding loading and casting stations as shown in FIG. 1F.

(22) The movements of the turret and of the ladle sliding gates (15) of both first and second ladles must be perfectly synchronized to prevent any undesired dripping or flow of molten metal from any of the first and second ladles.

(23) The robot (21) must also be configured for removing from the emptied first ladle (11) located at the loading station, the ladle shroud (13a) and the driving device (17). The spent ladle shroud (13a) can be cleaned and stored for further use or it can be disposed of into a disposal bin (27). The driving device (17) can be stored in the storing station on the first holding device of the turret (30) without having to disconnect it from the source of pressurized fluid, or into the storage rack (29) of the loading platform, after having disconnected the source of pressurized fluid therefrom. The emptied first ladle (11) stripped of both ladle shroud (13a) and driving device (17) can now be removed to a service station for being refurbished. A new ladle full of molten metal can be brought from the furnace and loaded onto the now empty first holding device of the turret, for starting the whole operations as illustrated in FIGS. 1A to 1F discussed supra.

(24) The Robot (21)

(25) The robot (21) can have at least five, preferably at least six or seven degrees of liberty. The robot is preferably movingly mounted on the loading platform (20) such that the robot can translate parallel to a first axis (X) and/or second axis (Y) normal to the first axis (X), or combination thereof. The robot (21) can preferably rotate about a vertical axis (Z) normal to the first and second axes (X, Y). With these combinations of movements, the robot must be able to reach and retrieve any tool or component from the storage rack (29) and to reach the ladle sliding gate (15) of the first or second ladle (11, 12) which is held at the loading station for carrying out the operations described below. Excellent results were obtained using a Kuka Foundry type Robot KR480.

(26) The robot is configured for coupling a ladle shroud (13a-13c) and a driving device (17) to a ladle (11, 12) full of molten metal and to the ladle sliding gate (15) thereof. It is also configured for removing off the emptied first or second ladle (11, 12) which is held at the loading station after being moved from the casting station the spent ladle shroud (13a-13c) and the driving device (17). To avoid brutal thermal shocks, the ladle shroud (13b) is preferably enclosed in a pre-heating station prior to being coupled to the ladle sliding gate (15) of the ladle at the loading station. The robot can handle the ladle shroud from the storage rack (29) to the pre-heating station (not shown) and thence to be coupled to the ladle sliding gate (15). Similarly, for removing the ladle shroud off an emptied first ladle (11), the robot can remove it, bring it to a pressurized gas (e.g. oxygen) cleaning station (not shown) and to the pre-heating station or to the storage rack (29) for further use. Alternatively, the robot can dump the ladle shroud into a disposal bin (27) in case it is too worn out for further use.

(27) The robot is also configured for checking the state of a spent ladle shroud (13a-13c) after removal from an emptied ladle. In a preferred embodiment, the robot is configured for assessing whether the spent ladle shroud can be re-used after cleaning or whether it must be disposed of. This can be achieved with an artificial intelligence programming of the robot which can learn to distinguish between spent ladle shrouds which can be re-used or must be disposed of. The robot is also preferably configured for cleaning a spent ladle shroud, advantageously with an oxygen shower, to remove any residue clinging to walls of the spent ladle shroud.

(28) Ladle Sliding Gate (15)

(29) A ladle sliding gate (15) suitable for the present invention comprises an upper plate (15u) and a lower plate (15d). The upper plate comprises a fixing surface and a bottom sliding surface separated from one another by a thickness of the upper plate, and an upper bore extending from the fixing surface to the bottom sliding surface. The fixing surface of the upper plate is rigidly fixed to a lower portion of the corresponding first or second ladle (11, 12) with the upper bore in fluid communication with the opening (110, 120). The opening is generally formed by a downstream end of an inner bore of an inner nozzle (18), as illustrated in FIGS. 2A and 3A. During a whole casting operation from a ladle (11, 12) into a tundish (1), the upper plate (15u) is fixed with respect to the opening (11o, 12o) and to the inner nozzle (18).

(30) The lower plate (15d) comprises a nozzle sliding surface and a top sliding surface separated from one another by a thickness of the lower plate, as well as one or two lower bores extending from the top sliding surface to the nozzle sliding surface. The lower plate (15d) is slidingly mounted such that the top sliding surface can slide in translation along the bottom sliding surface to bring the one or two lower bores in and out of fluid communication with the upper bore. The lower plate can be moved in translation by activating a driving device (17). The driving device can comprise a cylinder (17c) rigidly and reversibly coupled to the bottom portion of the first or second ladle (11, 12), and a piston (17p) reversibly fixed to the lower plate (15d). For example, the driving device (17) can be a hydraulic piston or a pneumatic piston.

(31) In a first embodiment illustrated in FIG. 2A-D, the lower plate (15d) comprises one lower bore only. The ladle sliding gate of this embodiment comprises a drawer (15w) configured for rigidly holding side-by-side a ladle shroud (13a-13c) and a collector nozzle (14). The ladle shroud has a shroud bore opening upstream at an upper shroud surface and downstream at a lower shroud end. Similarly, the collector nozzle (14) has a collector bore opening upstream at an upper collector surface and downstream at a lower collector end. As well known in the art, the collector nozzle is substantially shorter than the ladle shroud, such that when the ladle is at the casting position, the lower collector end is well clear off the tundish and is easily accessible with an unclogging tool (19r) such as a staff or a pressurized gas lance. The drawer is movingly mounted such as to translate the upper shroud surface and collector surface along the nozzle sliding surface of the lower plate (15d) between, a shroud position, wherein the shroud bore is in fluid communication with the lower bore a collector position, wherein the collector bore is in fluid communication with the lower bore, and preferably a sealed position wherein a downstream end of the lower bore is sealed and is in fluid communication with neither the ladle bore nor the collector bore.

(32) The sealed position of the drawer (15w) is preferred but not essential, since flow from the ladle can be stopped by moving the lower bore of the lower plate out of registry with the upper bore of the upper plate. Like the lower plate, the drawer (15w) can be moved in translation by activating a drawer driving device (17w). The drawer driving device can comprise a cylinder (17c) rigidly and reversibly coupled to the bottom portion of the first or second ladle (11, 12), and a piston (17p) reversibly fixed to the drawer (15w). For example, the drawer driving device (17w) can be a hydraulic piston or a pneumatic piston. Actuating the drawer driving device (17w) allows moving the drawer (15w) to bring the shroud bore and the collector bore in and out of registry with the lower bore.

(33) FIGS. 2A to 2D show various steps for initiating a casting operation from a ladle (11, 12) to a tundish (1) with a ladle sliding gate according to the first embodiment. FIG. 2A shows a new ladle (11, 12) having reached the casting station. The ladle sliding gate is in the sealed position with the lower bore of the lower plate (15d) being out of registry from the upper bore of the upper plate (15u). The inner bore of the inner nozzle (18) as well as the upper bore are filled with a plugging material (19), which can be sand or any other particulate material, for preventing freezing of the sliding mechanism by solidified metal. The drawer (15w) can be positioned at the shroud position with the shroud bore in fluid communication with the lower bore. No metal is allowed to flow through the ladle, since the downstream end of the upper bore is sealed by the lower plate. In the present document, upstream and downstream are defined according to the intended direction of flow of metal melt. Once the ladle is at the casting station, casting can start.

(34) As shown in FIG. 2B, to start casting, the driving device (17) translates the lower plate and ladle shroud until bringing the lower bore and ladle bore in fluid communication with the upper bore, thus forming a continuous flow channel from the inner bore to the shroud bore. In normal conditions, the plugging material (19) flows out through the lower bore and shroud bore, driven by the pressure of the molten metal in the ladle. Once the plugging material (19) has been evacuated, molten metal flows out of the ladle through the shroud bore. This operation takes a few seconds, and casting from the tundish to the tool can proceed continuously. In some cases, however, the plugging material may form a solidified mass by molten metal percolating therethrough and solidifying forming a binder between the particles of the plugging material (19). Depending on the size and resistance of the thus solidified mass, this can lead to a clogging of the inner bore and upper bore, and no molten metal can flow out of the ladle. This situation is more the exception than the rule, but when it happens, it poses a serious problem to a casting operation. For this reason, many operators are reluctant to fix the ladle shroud (13a-13c) to the ladle sliding gate (15) and prefer to use a robot to hold the ladle shroud in position when the ladle is at the casting station. With a ladle sliding gate (15) according to the present embodiment, a clogged inner bore and/or upper bore can be unclogged very rapidly, even with a ladle shroud (13a-13c) fixed to the drawer (15w), as follows.

(35) As illustrated in FIG. 2C; the drawer driving device (17w) translates the drawer (15w) such as to bring the collector nozzle (14) in fluid communication with the lower bore and upper bore. Since the collector nozzle is substantially shorter than the ladle shroud, leaving enough clearing above the tundish, it is easy to introduce an unclogging tool (19r) through the downstream end of the collector nozzle, through the lower and upper bores and up to the inner bore. The unclogging tool can be a metal staff which can be used to break the solidified mass by hitting the thus solidified plugging material. Alternatively, the unclogging tool (19r) can be a pressurized gas lance, projecting a jet of pressurized gas, such as oxygen. The unclogging tool (19r) can be handled manually or by a robot.

(36) As soon as the solid mass is disrupted, the particles of plugging material (19) start flowing out through the collector nozzle and, as shown in FIG. 2D, casting can start normally. The drawer (15w) can be translated such as to bring the ladle bore in fluid communication with the lower and upper bores and with the inner bore to start the casting operation. If the drawer comprises a sealing position as defined supra, between the collector position and the ladle position, then the lower plate (15d) needs not be moved when translating the drawer (15w). If it does not, the lower plate (15d) can be moved to the sealing position prior to moving the drawer between the collector and the ladle positions.

(37) In a second embodiment illustrated in FIGS. 3A to 3D, the lower plate (15d) comprises a first bore and a second bore, each extending from the top sliding surface to the nozzle sliding surface. The lower plate (15d) is slidingly mounted such that the top sliding surface can slide along the bottom sliding surface to bring each of the first and second bores in and out of fluid communication with the upper bore. The nozzle surface is configured for being rigidly and reversibly coupled to the ladle shroud (13a-13c) with the ladle bore in fluid communication with the first bore, and with the collector bore in fluid communication with the second bore. The ladle shroud (13a-13c) and the collector nozzle. The nozzle sliding surface of the lower plate (15d) in this second embodiment does not have any sliding function. During a whole casting operation from a ladle (11, 12) into a tundish (1), the ladle shroud (13a-13c) and the collector nozzle (14) are fixed with respect to the lower plate (15d) and remain in registry with the first and second bores, respectively.

(38) FIGS. 3A to 3D show various steps for initiating a casting operation from a ladle (11, 12) to a tundish (1) with a ladle sliding gate according to the second embodiment. FIG. 3A shows a new ladle (11, 12) having reached the casting station. The ladle sliding gate is in the sealed position with both first and second bores of the lower plate (15d) being out of registry from the upper bore of the upper plate (15u). As in the first embodiment, the inner bore of the inner nozzle (18) as well as the upper bore are filled with a plugging material (19), which can be sand or any other particulate material, for preventing freezing of the sliding mechanism by solidified metal. Neither the molten metal (2) nor the plugging material (19) is allowed to flow through the ladle, since the downstream end of the upper bore is sealed by the lower plate. Once the ladle is at the casting station, casting can start.

(39) As shown in FIG. 3B, to start casting, the driving device (17) translates the lower plate and ladle shroud (13a-13c) until bringing the first bore and ladle bore in fluid communication with the upper bore, thus forming a continuous flow channel from the inner bore to the shroud bore. In normal conditions, the plugging material (19) flows out through the lower bore and shroud bore, driven by the pressure of the molten metal in the ladle. Once the plugging material (19) has been evacuated, molten metal flows out of the ladle through the shroud bore. This operation takes a few seconds, and casting from the tundish to the tool can proceed continuously. As discussed with the first embodiment, however, in some cases, a solidified mass of plugging material (19) can clog the inner and upper bores, so that no molten metal can flow out of the ladle and the passage must be unclogged. With a ladle sliding gate (15) according to the present embodiment, a clogged inner bore and/or upper bore can be unclogged very rapidly, even with a ladle shroud (13a-13c) fixed to the lower plate (15d), as follows.

(40) As shown in FIG. 3C, the driving device (17) translates the lower plate (15d) such as to bring the second bore and the collector nozzle (14) in fluid communication with the upper bore. Since the collector nozzle is substantially shorter than the ladle shroud, leaving enough clearing above the tundish, it is easy to introduce an unclogging tool (19r) through the downstream end of the collector nozzle, through the lower and upper bores and up to the inner bore. The unclogging tool can be a metal staff or a pressurized gas lance and they can be used to unclog the passage as discussed with respect to the first embodiment. The unclogging tool (19r) can be handled manually or by a robot.

(41) As soon as the solid mass is disrupted, the particles of plugging material (19) start flowing out through the collector nozzle and, as shown in FIG. 3D, casting can start normally. The lower plate (15d) can be translated such as to bring the first bore and ladle bore in fluid communication with the upper bore and with the inner bore to start the casting operation.

(42) In all embodiments of ladle sliding gates (15), the driving device (17) can be actuated hydraulically or pneumatically or electrically. Each of the at least first holding device and second holding device of the ladle turret is preferably provided with a source of pressurized fluid for actuating the driving device (17) and, if it comprises a drawer (15w), for actuating the drawer driving device (17w), via a hose (17t). In a preferred embodiment, each of the at least first holding device and second holding device of the ladle turret also comprises a storing unit for storing the driving device (17) and the drawer driving device (17w) if there is a drawer (15w), when the (drawer) driving device(s) (17) is (are) not coupled to the ladle sliding gate (15), as shown in FIGS. 1A, 1B, and 1F. The (drawer) casting devices (17, 17w) can also be stored in the storage rack on the loading platform. It is, however, preferred to store them on the first and second holding devices, because this way, the driving devices (17, 17w) can be permanently coupled via the hose (17t) to the source of hydraulic or pneumatic fluid (17h). This saves the robot (2&) from having to carry out a complex operation of coupling the hose (17t) to the newly coupled driving device(s) (17, 17w), which would have to be carried out in case the driving devices (17, 17w) were stored in the storage rack (29) on the loading platform.

(43) Method for Casting Molten Metal

(44) The present invention also concerns a method for casting molten metal (2) from a ladle (11, 12) into a tundish (1) in a casting installation as discussed supra, with the first ladle (11) being full of molten metal and being located at the casting station and the second ladle (12) being full of molten metal and being at the loading station. As illustrated in FIG. 1A, the ladle sliding gate (15) of the first ladle (11) is in the sealed position and is provided with a ladle shroud (13a-13c) and a collector nozzle (14). The lower plate (15d) of the ladle sliding gate is coupled to a driving device (17). If the ladle sliding gate (15) is of the type described with respect to the first embodiment supra, comprising a drawer (15w), the latter is coupled to a drawer driving device (17w). The ladle sliding gate (15) of the second ladle (12) is in the sealed position and comprises no ladle shroud. The ladle sliding gate (15) of the second ladle (12) is not coupled to any (drawer) driving device (17, 17w).

(45) In order to start casting molten metal from the first ladle (11) through the ladle shroud (13a) into the tundish (2), the ladle sliding gate (15) of the first ladle (11) is brought into casting position. This operation is performed by actuating the driving device (17). The first ladle (11) discharges the molten metal (2) contained therein into the tundish (1) until the first ladle is considered emptied.

(46) As the first ladle (11) is discharging its content into the tundish, the robot (21) loads a new ladle shroud (13b) onto the ladle sliding gate (15) of the second ladle (12) (cf. FIG. 1B). As illustrated in FIG. 1C, the robot (21) also couples the driving device (17) and optionally the drawer driving device (17w) to the sliding plate gate (15) of the second ladle (12). As discussed supra, this operation is made simpler if the first and second holding devices of the turret (30) are provided with a storing unit for storing one or more (drawer) driving devices (17, 17w), because the one or more (drawer) devices can thus remain coupled to the source (17h) of pressurized fluid via the hose (17t) during a whole casting operation involving emptying several (more than two) ladles into the tundish. If the one or more (drawer) driving devices (17, 17w) are stored elsewhere, typically in the storage rack (29) located on the loading platform (20), the robot (21) must additionally couple one or more hoses (17t) to corresponding one or more (drawer) driving devices to render them operational. During the whole operation on the second ladle (12) the ladle sliding gate remains in the sealed position.

(47) As shown in FIG. 1D, when the first ladle is substantially empty, the ladle sliding gate (15) of the first ladle (11) is brought from the casting position into the sealed position to interrupt any flow of molten metal out of the first ladle (11). The positions of the first and second ladles are swapped by moving the first ladle (11) from the casting station to the loading station and, concomitantly, moving the second ladle (12) from the loading station to the casting station. The position swapping of the first and second ladles (11, 12) can be performed as follows. FIG. 1D illustrates how the turret (30) can lift the first and second ladles (11, 12) until the ladle shrouds (13a, 13b) of the first and second ladles are both clear off and higher than the tundish in a vertical direction (Z), defining a rotating altitude. The turret can thus rotate without any risk of a ladle shroud (13a, 13b) of the first or second ladle (11, 12) colliding with the tundish or with any other component of the casting installation. FIG. 1E illustrates the rotation of the turret about the vertical axis (Z) by 180? to bring the emptied first ladle (11) above the loading station, and to bring the filled second ladle (12) above the casting station and above the tundish (2). During the rotation operation, the first and second ladles are constantly maintained at their rotating altitude. At this stage, the first and second ladles (11, 12) can be lowered to their respective loading and casting stations, the ladle shroud (13b) of the second ladle being inserted in the tundish (2).

(48) The ladle sliding gate (15) of the second ladle (12) can be brought into casting position such that molten metal can flow from the second ladle (12) through the ladle shroud (13b) into the tundish (2). The whole swapping operation from closing the ladle sliding gate of the first ladle (11) to opening the ladle sliding gate of the second ladle (12) can last less than 2 min, preferably less than 1 min more preferably less than 30 s, and the level of molten metal in the tundish can easily be restored to a stationary casting level.

(49) The emptied first ladle (11) parked at the loading station can now be stripped of the ladle shroud to allow the removal and transportation thereof across the workshop to a refurbishing station (not shown). The spent ladle shroud (11a) can be removed from the ladle sliding gate (15) of the emptied first ladle (11) with the robot (21). The spent ladle shroud (13a) can be stored for refurbishing and cleaning (not shown) or as waste in a disposal bin (27) as shown in FIG. 1F.

(50) As illustrated in FIG. 1F, the robot (21) can also decouple and remove the one or more (drawer) driving devices (17, 17w) from the sliding plate gate (15) of the first ladle (11) and storing them for further use. if the first and second holding devices of the turret (30) are provided with a storing unit for storing one or more (drawer) driving devices (17, 17w), then the robot (21) needs not disconnect the corresponding one or more hoses (17t) prior to storing them, since the source (17h) of hydraulic or pneumatic fluid or the source of electric power is also located at the first and second holding devices. If, on the other hand, the one or more driving devices (17, 17w) stored in the storage rack (29) located on the loading platform (20), then the robot must also disconnect the one or more hoses (17t) from the corresponding one or more (drawer) driving devices (17, 17w) prior to storing them in the storage rack (29). The same applies if a (drawer) driving device must be changed because defective.

(51) The emptied first ladle, stripped of the ladle shroud (13a) and of the one or more (drawer) driving means (17, 17w) can be removed from the first holding device by a crane to a refurbishing station (not shown), where the ladle can be cleaned, repaired, and made ready for being filled with a new load of molten metal from a furnace. A new ladle full of molten metal can be loaded onto the now empty first holding device of the ladle turret (30) at the loading station wherein, like the second ladle (12) in step (a), the new ladle comprises a ladle sliding gate (15) in the sealed position and comprising no ladle shroud (13a-13c) and no (drawer) driving device (17, 17w). The cycle depicted in FIGS. 1A to 1(f) can thus be repeated, and casting from the tundish to a tool can proceed continuously, with the level of molten metal in the tundish being substantially constant throughout the continuous casting operation, with little fluctuations when swapping the positions of the emptied ladle (11) and a filled ladle (12) defined in step (e). Said fluctuations can be very small since, when functioning optimally, the swapping operation is very swift.

(52) In case step (e) of swapping positions of the first and second ladles does not proceed optimally, because the inner and/or upper bores are clogged with solidified plugging material, the use of ladle sliding gate (15) comprising both ladle shroud (13a-13c) and collector nozzle (14) side-by-side allows a rapid and efficient un-clogging of the inner and/or upper bores by using an appropriate unclogging tool (19r) through the collector bore, as described supra in the section entitled LADLE SLIDING GATE (15). This way, the interruption of metal flow into the tundish is reduced to a minimum. Absent this option of rapid un-clogging through the collector bore, many operators would be reluctant to fix a ladle shroud (13a-13c) to a bottom of a ladle at the loading station, with or without a robot (21), because unclogging the inner and upper bores with a ladle shroud fixed to the ladle sliding gate would require returning the clogged ladle to the loading station and replacing the ladle shroud by a collector nozzle to allow un-clogging with an unclogging tool (19r), then coupling again the ladle shroud and bringing the ladle back to the casting station. All these operations would take too long, with a risk of metal freezing, which was to be prevented by the use of a plugging material. Furthermore, a long period without feeding the tundish with molten metal could provoke the interruption of the casing operation, which must be avoided by all means.

(53) In a preferred embodiment, the loading operations of a second ladle (12) stationed at the loading station are carried out in the following order: (1) coupling of the (drawer) driving device(s) to the ladle sliding gate (15), followed by the coupling of a new ladle shroud (13b). The unloading operations of an emptied first ladle (11) stationed at the loading station are preferably carried out in the following order: (1) uncoupling of the spent ladle shroud (13b), followed by uncoupling of the (drawer) driving device(s) from the ladle sliding gate (15).

(54) The present invention offers an automated metal casting installation, wherein a fresh ladle can be made ready for casting by a robot (21) at the loading station, without any additional risk of casting disruption into the tool compared with conventional metal casting installations.

(55) TABLE-US-00001 REF DESCRIPTION 1 Tundish 2 Molten metal 3 Casting tool 5 Tundish sliding gate 11 First ladle 11o Opening of first ladle 12 Second ladle 12o Opening of second ladle 13a-13c Collector nozzle 14 Lade shroud 15 Ladle sliding gate 15d Lower plate of ladle sliding gate 15u Upper plate of ladle sliding gate 15w Drawer 17 Driving device 17c Cylinder 17h Source of hydraulic/pneumatic fluid 17p Piston 17t Hose 17w Drawer driving device 18 Inner nozzle 19 Plugging material 19r Unplug rod 20 Loading platform 21 Robot 25 Pre-heating oven 27 Disposal bin 29 Storage rack 30 Ladle turret